DK3580540T3 - Sensorindretning til kraft- eller drejningsmomentmåling og fremgangsmåde til fremstilling heraf - Google Patents

Sensorindretning til kraft- eller drejningsmomentmåling og fremgangsmåde til fremstilling heraf Download PDF

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Publication number
DK3580540T3
DK3580540T3 DK17826199.6T DK17826199T DK3580540T3 DK 3580540 T3 DK3580540 T3 DK 3580540T3 DK 17826199 T DK17826199 T DK 17826199T DK 3580540 T3 DK3580540 T3 DK 3580540T3
Authority
DK
Denmark
Prior art keywords
manufacture
power
sensor device
torque measurement
torque
Prior art date
Application number
DK17826199.6T
Other languages
English (en)
Inventor
Sebastian Matich
Walter Albrecht
Original Assignee
Wittenstein Se
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wittenstein Se filed Critical Wittenstein Se
Application granted granted Critical
Publication of DK3580540T3 publication Critical patent/DK3580540T3/da

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
    • B25J9/0057—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base with kinematics chains of the type spherical-prismatic-spherical
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
    • G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
    • G01L1/2206—Special supports with preselected places to mount the resistance strain gauges; Mounting of supports
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
    • G01L5/162—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of piezoresistors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
    • G01L5/1627—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of strain gauges
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/028—Piezoresistive or piezoelectric sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics

Landscapes

  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Human Computer Interaction (AREA)
  • Public Health (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Medical Informatics (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
DK17826199.6T 2017-02-07 2017-12-18 Sensorindretning til kraft- eller drejningsmomentmåling og fremgangsmåde til fremstilling heraf DK3580540T3 (da)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017102343.7A DE102017102343B4 (de) 2017-02-07 2017-02-07 Sensoranordnung zur Kraft- oder Drehmomentmessung und ein Verfahren zur Herstellung derselben
PCT/EP2017/083320 WO2018145800A1 (de) 2017-02-07 2017-12-18 Sensoranordnung zur kraft- oder drehmomentmessung und ein verfahren zur herstellung derselben

Publications (1)

Publication Number Publication Date
DK3580540T3 true DK3580540T3 (da) 2022-05-23

Family

ID=60942989

Family Applications (1)

Application Number Title Priority Date Filing Date
DK17826199.6T DK3580540T3 (da) 2017-02-07 2017-12-18 Sensorindretning til kraft- eller drejningsmomentmåling og fremgangsmåde til fremstilling heraf

Country Status (6)

Country Link
US (1) US11433550B2 (da)
EP (1) EP3580540B1 (da)
DE (1) DE102017102343B4 (da)
DK (1) DK3580540T3 (da)
ES (1) ES2913525T3 (da)
WO (1) WO2018145800A1 (da)

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* Cited by examiner, † Cited by third party
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US10213266B2 (en) 2014-02-07 2019-02-26 Covidien Lp Robotic surgical assemblies and adapter assemblies thereof
CA3027530A1 (en) * 2018-02-02 2019-08-02 Covidien Lp Robotic surgical assemblies and adapter assemblies thereof
JP6968739B2 (ja) * 2018-03-29 2021-11-17 日本電産コパル電子株式会社 トルクセンサ
RU2715400C1 (ru) * 2019-11-25 2020-02-27 Ассистирующие Хирургические Технологии (Аст), Лтд Тензоплатформа для роботохирургического комплекса
CN112484895B (zh) * 2020-12-21 2023-03-07 天津城建大学 一种以六面体基座为轮廓的三维应力测试装置及方法
CN112720421B (zh) * 2021-01-12 2022-03-25 山东理工大学 一种含伸缩杆的双导轨式平面机器人
CN112720420B (zh) * 2021-01-12 2022-03-25 山东理工大学 一种含平行四边形的双导轨式平面机器人
CN112936225B (zh) * 2021-01-28 2023-06-27 燕山大学 一种少驱动多自由度输出冗余并联机构及控制方法
US20230129177A1 (en) * 2021-10-27 2023-04-27 Canon Kabushiki Kaisha Sensor, device, system, and manufacturing method for product
CN114876992B (zh) * 2022-04-15 2023-04-07 重庆大学 一种基于磁传动的主动控制Stewart减振平台
KR102645890B1 (ko) * 2022-06-13 2024-03-07 주식회사 피치랩 사면체 구조를 갖는 힘/토크 센서

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US3295224A (en) 1964-12-07 1967-01-03 Franklin Institute Motion simulator
JPS6062497A (ja) * 1983-09-14 1985-04-10 畑村　洋太郎 多軸力センサ
JPS60221288A (ja) * 1984-04-13 1985-11-05 株式会社　富士電機総合研究所 圧覚認識制御装置
FR2623284B1 (fr) 1987-11-13 1990-08-10 Logabex Capteur d'efforts spatiaux
DE4101732C2 (de) 1991-01-22 1994-08-18 Kernforschungsz Karlsruhe Kraft- Momenten-Sensor
DE10013059C2 (de) 2000-03-19 2002-01-31 Deutsch Zentr Luft & Raumfahrt Kraft-Momenten-Sensor
JP4387691B2 (ja) * 2003-04-28 2009-12-16 株式会社ワコー 力検出装置
DE102007017862A1 (de) 2007-04-13 2008-10-16 Grädener, Alina, Dipl.-Ing. 6-Achsen Sensor zum ermitteln von Kräften und Momenten insbsondere in der Robotik
DE102007037262B3 (de) 2007-08-07 2008-12-04 Deutsches Zentrum für Luft- und Raumfahrt e.V. Kraft-Moment-Sensor zum Messen von mindestens drei orthogonalen Belastungen
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Also Published As

Publication number Publication date
EP3580540B1 (de) 2022-04-20
US11433550B2 (en) 2022-09-06
WO2018145800A1 (de) 2018-08-16
EP3580540A1 (de) 2019-12-18
DE102017102343A1 (de) 2018-08-09
DE102017102343B4 (de) 2022-04-28
ES2913525T3 (es) 2022-06-02
US20200033211A1 (en) 2020-01-30

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